Related papers: Robust Category-Level 3D Pose Estimation from Synt…

Spacecraft Pose Estimation (SPE) is a fundamental capability for autonomous space operations such as rendezvous, docking, and in-orbit servicing. Hybrid pipelines that combine object detection, keypoint regression, and Perspective-n-Point…

Deep learning methods typically require vast amounts of training data to reach their full potential. While some publicly available datasets exists, domain specific data always needs to be collected and manually labeled, an expensive, time…

Collecting and annotating real-world data for the development of object detection models is a time-consuming and expensive process. In the military domain in particular, data collection can also be dangerous or infeasible. Training models…

We propose a novel approach for joint 3D multi-object tracking and reconstruction from RGB-D sequences in indoor environments. To this end, we detect and reconstruct objects in each frame while predicting dense correspondences mappings into…

Promising performance has been achieved for visual perception on the point cloud. However, the current methods typically rely on labour-extensive annotations on the scene scans. In this paper, we explore how synthetic models alleviate the…

We consider the problem of source-free unsupervised category-level pose estimation from only RGB images to a target domain without any access to source domain data or 3D annotations during adaptation. Collecting and annotating real-world 3D…

Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…

We present an overview and evaluation of a new, systematic approach for generation of highly realistic, annotated synthetic data for training of deep neural networks in computer vision tasks. The main contribution is a procedural world…

Estimation of human shape and pose from a single image is a challenging task. It is an even more difficult problem to map the identified human shape onto a 3D human model. Existing methods map manually labelled human pixels in real 2D…

We propose a simple and efficient method for exploiting synthetic images when training a Deep Network to predict a 3D pose from an image. The ability of using synthetic images for training a Deep Network is extremely valuable as it is easy…

Indoor scene understanding is central to applications such as robot navigation and human companion assistance. Over the last years, data-driven deep neural networks have outperformed many traditional approaches thanks to their…

Estimation of 3D human pose from monocular image has gained considerable attention, as a key step to several human-centric applications. However, generalizability of human pose estimation models developed using supervision on large-scale…

State-of-the-art object pose estimation handles multiple instances in a test image by using multi-model formulations: detection as a first stage and then separately trained networks per object for 2D-3D geometric correspondence prediction…

Knowing the exact 3D location of workers and robots in a collaborative environment enables several real applications, such as the detection of unsafe situations or the study of mutual interactions for statistical and social purposes. In…

Current state-of-the-art 6d pose estimation is too compute intensive to be deployed on edge devices, such as Microsoft HoloLens (2) or Apple iPad, both used for an increasing number of augmented reality applications. The quality of AR is…

3D point cloud understanding has made great progress in recent years. However, one major bottleneck is the scarcity of annotated real datasets, especially compared to 2D object detection tasks, since a large amount of labor is involved in…

Acquiring labeled 6D poses from real images is an expensive and time-consuming task. Though massive amounts of synthetic RGB images are easy to obtain, the models trained on them suffer from noticeable performance degradation due to the…

Recently developed deep neural networks achieved state-of-the-art results in the subject of 6D object pose estimation for robot manipulation. However, those supervised deep learning methods require expensive annotated training data. Current…

Given the dependency of current CNN architectures on a large training set, the possibility of using synthetic data is alluring as it allows generating a virtually infinite amount of labeled training data. However, producing such data is a…

We introduce MegaPose, a method to estimate the 6D pose of novel objects, that is, objects unseen during training. At inference time, the method only assumes knowledge of (i) a region of interest displaying the object in the image and (ii)…